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PID reset counter

This commit is contained in:
rusefi 2017-06-02 21:34:00 -04:00
parent 44f0df51f7
commit fbd1eab289
2 changed files with 6 additions and 4 deletions
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9
firmware/controllers/math/pid.cpp
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@ -21,9 +21,9 @@ Pid::Pid(pid_s *pid) {
void Pid::init(pid_s *pid) { void Pid::init(pid_s *pid) {
this->pid = pid; this->pid = pid;
resetCounter = 0;
dTerm = iTerm = 0; reset();
prevResult = prevInput = prevTarget = prevError = 0;
} }
bool Pid::isSame(pid_s *pid) { bool Pid::isSame(pid_s *pid) {
@ -74,8 +74,9 @@ void Pid::updateFactors(float pFactor, float iFactor, float dFactor) {
} }
void Pid::reset(void) { void Pid::reset(void) {
iTerm = 0; dTerm = iTerm = 0;
prevError = 0; prevResult = prevInput = prevTarget = prevError = 0;
resetCounter++;
} }
float Pid::getP(void) { float Pid::getP(void) {

1
firmware/controllers/math/pid.h
View File

@ -44,6 +44,7 @@ public:
float dTerm; // we are remembering this only for debugging purposes float dTerm; // we are remembering this only for debugging purposes
void showPidStatus(Logging *logging, const char*msg); void showPidStatus(Logging *logging, const char*msg);
void sleep(); void sleep();
int resetCounter;
private: private:
pid_s *pid; pid_s *pid;